Servo quadruped robot - stable fast walking.
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- Опубликовано: 6 фев 2025
- Project details, discussion and files: hackaday.io/pr...
Code: github.com/mig...
Instagram: / asd.lab
If you want to support the projects so i can continue with them: paypal.me/labsupport
![CHOP - The inteligent [DIY] quadruped robot.](http://i.ytimg.com/vi/TBHhbgf6zaQ/mqdefault.jpg)
Why this video doesn't have millions of views seriously. Superb and awesome job man and great project. Initially it looked unbelievable.
Thanks!! For me there is already lot of people knowing the project, sharing it would also help!
Hey man, just a guy wanna say What an Amazing Job!
Thanks a lot mate!! That motivates hahaha
No problem pal
This is perfectly stable!
surprisingly yes, got inspired from Josh Pieper's gait and it really works.
Plz make a video on hardware and software and in hackaday your design is quite different from what u have shown in the video like push rods are in opposite direction , I think it would make it more robust,🤔 , otherwise your project is amazing and quite futuristic!!
Thanks mate! It is nice you have notice the change of the rods, that's becouse the way they are in the video makes the femur to bend a little so there is a posibility of braking it (i'll explain that change in details at the hackaday project). I haven't had the time jet to change the tibias, but it will be upgraded shortly. About making a video of the code and hardware, yeah maybe in the future there will be like a tutorial on how to set up and run the robot
asd_lab , I’ll wait for that tutorial🙂👍
Vas bastante rápido con los progresos, felicitaciones! Qué tal la durabilidad de los servos? Has tenido problemas?
Gracias!! Pues por ahora no he tenido ningun problema, intento no sobrecargarlos, ya que cuando lleva mas de 10 minutos funcionando se calientan mucho. Pero ya te digo, ningun engranaje roto ni ningun componente de la electronica quemado.
@@asdlab vaya que bien que para unos servos de hobby chinos te hayan salido bien, lamentablemente los koreanos o de calidad superior se salen de mi presupuesto y bueno de la mayoria XD, estaba pensando comprar los JX cómo los ves? Sabes como salen? tienen como 36kgcm, como los del pupper de Stanford
@@MauricioHernandez-de8is pues parece que esos son lo mejor calidad precio, tienen motor coreless por lo que se notará la durabilidad y parece que la electronica que montan es mejor que la tipica de servos peores, de hecho teoricamente funcionan a frecuencia mayor a la de servos tipicos con solo 1us de banda muerta. Yo tambien estoy mirando estos, estan sobre unos 100 euros en paquetes de 4, osea unos 25 euros cada uno.
Cool movements!
If I can get mine to be this stable I would be really happy
I think this walk is made at T=0,3-0,4 seconds
Also you have to take into account that i have configured feet initial positions for my weight distribution, that may change for you
@@asdlab Ohhh, right. I need to place the center of mass so when it picks up the opposite pair of legs it is still balanced with the center of mass on the line between the grounded feet. I had not taken that into consideration. I will have to try that soon.
Yeah that is!👌
I love the look and stability! How did you make those rubber feet though?
Thanks mate! The feet are made with TPU plastic, fexible filament
@@asdlab Awesome! Thanks for your help.
awesome
Thanks mate, you are also killing it👌👌
Seriously how did u start mate. Did u do this all alone?
Hey there Man, See that you have made great use of quarantine time!!. I am just a beginner who is trying to learn how to make these awesome robots. Can you please point us in the right direction of how to learn to program such robots. I can comprehend the code....but ..... I don't know how I am supposed to write these......please help me out.
I can see various resources on people suggesting us to use ROS.... but I can't understand why do we need to use ros when we can directly code using arduino.
@@sathindranidhiyarasu1066 robotics are hold with control systems and all the maths below, so if you are familiar with coding i think the next step is to understand how control systems and how maths are used in the robotic field. About ROS it is very popular as it is used up to industrial robotic field, so it is a very powerful tool for robotics but maybe a bit harder to understand. Anyway, high performance robot use much more powerful controllers than arduino, for example my 'simple' robot uses both an arduino and a raspberry pi.
Can you please list out like what are processes or steps that you took to do the software part for controlling the robot?
Like how the written code is interfaced with pybullet....and how the urdf file was made?please
@@sathindranidhiyarasu1066 I just read lot of documentation about the python libraries i used, some youtube tutorial and also read lot of research papers from different universities in the field. When i say a lot, trust me, a lot of them hahahaha
Why does it feels like he does not want to go for a walk. Also is that the fastest speed
It can go faster but i don't want to burn the motors.
Great project! I'm planning on building one :D
Can I use MG996 or 945 servos instead of DS3218s? or atleast ES3005(analog servo)?
I don't recommend you mg996 servos as they have a real torque of 4kg/cm, that is not enough. Maybe if the other one you tell me, thay have real ~12 kg/cm would work but i'm not really sure as my robot is in the limit and i'm using 20kg/cm servo. If you see other people's robot they use from 20 to 35 kg/cm servos.
@@asdlab Thanks for the reply!
The problem is that only the MG996/945/995 and some other MG series motors and ES3005 are available in our country. So wanted to make sure whether this would work with those motors
Great!
Great. How much amp does each servo require? Because i saw you used six 18650 battery on your hackday. Which 18650 you used? How many amps?
4 amps peak, the batteries 2200 mah esch
@@asdlab Total: 6600 mah for 12 servos. It's enough? instantaneous amp on batteries?